US 9,811,743 B2
Tracking road boundaries
Petrus J. L. van Beek, Camas, WA (US)
Assigned to Sharp Laboratories of America, Inc., Camas, WA (US)
Filed by Sharp Laboratories of America, Inc., Camas, WA (US)
Filed on Jun. 29, 2015, as Appl. No. 14/754,488.
Prior Publication US 2016/0379064 A1, Dec. 29, 2016
Int. Cl. G06K 9/00 (2006.01); G06K 9/46 (2006.01)
CPC G06K 9/00798 (2013.01) [G06K 9/4609 (2013.01); G06K 9/4652 (2013.01); G06T 2207/10004 (2013.01); G06T 2207/20104 (2013.01); G06T 2207/30256 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of tracking a road boundary, comprising:
capturing a color image from a camera;
identifying a pair of regions of interest (ROI) in the color image on each side of a candidate boundary position;
extracting a color profile from each of the ROIs;
generating a weighted color difference score by comparing the color profiles and weighting a difference between the color profiles based on a color similarity between colors in the color profiles; and
outputting a determination of a first detected boundary based upon the weighted color difference score; and
wherein the road boundary need not be painted to be detected.